KR20170130023A - Apparatus, Method, System and Program for Pipeline Visual Inspection - Google Patents

Abstract

The present invention relates to an apparatus, a method, a system, and a program for pipeline exterior inspection. The apparatus for pipeline exterior inspection comprises: a photographing unit to generate image information photographed to include a reference grid unit attached or applied to a first pipe and a second pipe, at least a portion of the first pipe, at least a portion of the second pipe, and at least a portion of a welded unit; and a control unit to receive the image information from the photographing unit, and determining a defect of welding of the welded unit based on the image information and information for the reference grid unit. The reference grid unit is configured to allow a longitudinal line extended in a longitudinal direction of each pipe and a lateral line extended in a lateral direction of each pipe to cross. Accordingly, a worker is able to determine a welding defect for a pipeline to be inspected in real time at a work site.

Description

[0001] Apparatus, method, system and program for pipeline visual inspection [

The present invention relates to an apparatus, a method, a system, and a program for inspecting the appearance of a pipeline, and more particularly, to a method of inspecting a pipeline by using a portable device such as a smart phone, And more particularly, to a pipeline visual inspection apparatus, method, system, and program that can reduce the time required to determine a welding state of a pipeline by determining welding defects caused by defects.

There is a possibility that a welding defect may occur depending on the welding method and environment of the welding part at the time of welding such as pipeline. 1 is a photograph showing an example of welding failure of a pipeline. Welding failure as shown in Fig. 1 degrades the durability and service life of the pipeline. Damage to the pipeline caused by poor welding can lead to very large economic losses. In particular, since the large diameter pipe is welded in air, an error can easily occur. Such an error may cause fatigue failure or the like due to fluid collision.

In general, there are a visual inspection, a destructive inspection method, and a non-destructive inspection method for determining whether or not a weld defect in a pipeline is defective. 2 is a photograph showing a visual inspection method. As shown in FIG. 2, the visual inspection method is a method in which an inspecting person directly measures by using a vernier caliper (a), a magnifying glass (b), or the like and is dependent on the judgment of an inspector rather than a quantitative analysis. It is very likely that errors will occur. In particular, in the case of a miter joint, the use and measurement of the equipment was more difficult than the straight portion due to the angle of the corner portion. In addition, there is a problem that it is not easy to build a DB because continuous visual inspection is necessary to construct a DB after shooting. This leads to the difficulty of tracking long-term changes in the pipeline.

The fracture inspection method is a method of determining the presence or absence of a weld defect in the selected sample. This fracture inspection method separates the bonded materials by applying a physical force to them, and performs a separation experiment to estimate the welding state with the force required for the separation. Therefore, there is a problem that the risk is high in the process of the experiment, the inspection time is long, and the pipe selected as the inspection target is discarded in the case of the already installed pipeline. Moreover, because of this problem, the destructive inspection method is suitable for sample inspection at random by selecting several samples, and is not suitable for full inspection of all products. Particularly, in the case of the Miter part, even when the destructive inspection method which has many problems as described above is used for accurate determination, it is difficult to easily determine the quantitative step value by the naked eye.

In order to solve such problems, a non-destructive inspection method has been proposed, which can be divided into an external inspection and an internal inspection. External inspection includes reflection light inspection (vision system method) using laser and CCD camera, magnetic inspection, and induced current inspection. Internal examinations include ultrasound and radiography.

Korean Patent Application No. 10-2008-00062529, High Speed Laser Vision Sensor System, High Speed Image Processing Method and Welding Appearance Inspection Method using the same, Kangkuk University Industry-Academic Cooperation Foundation, Hanyang University Industry-Academy Cooperation Korean Patent Application No. 10-2007-0123827, Welding Quality Inspection System and Inspection Method thereof, Hyundai Motor Co., Ltd. Korean Patent Application No. 10-2013-0032408, Apparatus and Method for Diagnosing Laser Welding Defects, POSCO Corporation

3 is a photograph showing an example of occurrence of a stepped portion of the miter portion. As shown in FIG. 3, unlike the straight line portion of the pipeline, fatigue failure due to fluid collision can be more easily caused in the miter portion when an error occurs. 4 is a photograph showing an example of a conventional miter visual inspection. As shown in FIG. 4, in the case of the miter portion, there is a problem that the existing equipment use and measurement is more difficult than the straight portion due to the angle of the corner portion. 5 is a photograph showing an example of a conventional miter breakage test. As shown in FIG. 5, even when the destructive inspection method is used to overcome the difficulties in using and measuring the existing equipment for the miter part, it is difficult to easily determine quantitative stepped values by the naked eye, There is a possibility that the specimen may be deformed, and there arises a problem that it is more difficult to derive a definite measurement result value because a bead, a step of a pipe, a welding angle and the like are generated depending on a measuring direction or a welding part .

As a result, in the case of the miter part, fatigue failure is likely to occur after the installation is completed, so that economic loss must occur and the risk of welding failure of the miter part after the installation of the pipeline is completed without using the destructive inspection method There was a request for a way to detect it. More specifically, when an inspector examining a defect in a pipeline shoots a welding portion of a pipeline, particularly a weld portion of a miter portion, using a general optical camera (such as a digital camera, a DSLR, or a smart phone) A system for judging the need was necessary.

Conventional nondestructive inspection methods often require precise inspection conditions such as a separate rotary plate, and thus have been limited in location. In addition, in the case of radiographic inspection and infrared / laser camera, it is inevitable to use very expensive equipments, so that it has been difficult to use it widely. As a result, this nondestructive inspection method has complicated procedures and low portability, and it has been difficult for an operator to instantly check the quality of welding in a working environment.

Also, among the prior art documents, the non-destructive inspection method such as the patent document is a method of diagnosing a welding defect immediately during welding by using a plasma signal generated during welding. In such a real-time non-destructive inspection method during welding, there is a problem that it is difficult for an operator to instantly check the quality of welding in a work environment in a pipeline in which connection is completed since welding.

Accordingly, it is an object of the present invention to provide an optical camera of a portable device, such as a smart phone, for performing a visual inspection of a welded portion of a pipeline to detect cracks, misalignment of the object to be inspected, Defectiveness, product-specific dimensional error, and mounting defect, and determines the welding defect. By outputting the judgment result in real time on the screen of a portable device such as a smart phone, it is possible to reduce the time required for determining the welding state of the pipeline And to provide a pipeline visual inspection apparatus, method, system, and program capable of performing pipeline visual inspection.

Hereinafter, specific means for achieving the object of the present invention will be described.

An object of the present invention is to provide a pipeline visual inspection apparatus for judging weld defects of a first pipe and a second pipe connected to each other by a welded portion, the apparatus comprising: a reference grid portion attached or coated to the first pipe and the second pipe, A photographing unit for generating image information photographed so as to include at least a part of the first pipe, at least a part of the second pipe, and at least a part of the welded part; And a controller for receiving the image information from the photographing unit and determining a weld defect of the weld based on the image information and the information about the reference grid unit, And the transverse straight line extending in the transverse direction of each pipe intersects the longitudinal straight line passing through the pipe.

The control unit may be further configured to calculate, based on the image information received by the photographing unit, a first extension line that is an extension of a longitudinal straight line of the reference grid unit of the first pipe, A shape visualization module outputting a second extension line that is an extension line; And a defect determination module that determines a weld defect of the weld based on whether the intersection of the first extension line and the second extension line output from the shape visualization module is located at the center of the weld bead of the weld.

The control unit may be further configured to calculate, based on the image information received by the photographing unit, a first extension line that is an extension of a longitudinal straight line of the reference grid unit of the first pipe, A shape visualization module outputting a second extension line that is an extension line; And a defect determination module that determines a weld defect of the weld portion using the first extension line and the second extension line output from the shape visualization module, wherein the shape visualization module includes: And a second stage lane perpendicular to the center line of the welded portion is generated after passing through a point where the weld bead of the welded portion contacts the welded bead and perpendicular to the center line of the welded portion, And the defect determination module determines a weld defect of the weld based on a distance between the first lane and the second lane.

The control unit may be further configured to calculate, based on the image information received by the photographing unit, a first extension line that is an extension of a longitudinal straight line of the reference grid unit of the first pipe, A shape visualization module outputting a second extension line that is an extension line; An angle calculation module for calculating an angle between the first extension line and the second extension line output from the shape visualization module; And a defect determination module that determines a weld defect of the weld based on the angle of the first extension line and the second extension line output from the angle calculation module.

The control unit may be further configured to calculate, based on the image information received by the photographing unit, a first extension line that is an extension of a longitudinal straight line of the reference grid unit of the first pipe, A shape visualization module outputting a second extension line that is an extension line; And a defect determination module for determining welding defects of the welded portion using the first extension line and the second extension line output from the shape visualization module, wherein the shape visualization module includes a first extension line and a second extension line, Wherein the reference line is spaced apart from the first pipe by a predetermined distance from a point where the weld bead is tangent to a reference line that is parallel to the second extension line, And the welding defect of the welded portion is determined based on the distance.

The reference grid unit may include a patch type patch pattern attached to the first pipe and the second pipe in a patch form, a roll type or a first pipe and a second pipe attached in the form of wrapping the outer peripheries of the first pipe and the second pipe, And a coating type applied to an outer periphery of each of the second pipes.

It is another object of the present invention to provide a pipeline appearance inspection method for determining welding defects of a first pipe and a second pipe connected to a welded portion, An attaching step of attaching a second reference grid part including a reference grating to the second pipe; The user photographs the first pipe, the first reference grid section, the second pipe, the second reference grid section and the weld section with a pipeline visual inspection apparatus according to an embodiment of the present invention, An imaging step of generating visual information on the first pipe, the first reference grid part, the second pipe, the second reference grid part, and the welded part in the visual inspection device; A pipe information input step in which the pipeline visual inspection apparatus receives pipe information which is information on the first pipe and the second pipe by the user; A reference grid part information input step in which the pipeline visual inspection device receives reference grid part information, which is information on the first reference grid part and the second reference grid part, by the user; The pipeline visual inspection apparatus comprising an extension line for generating a second extension line which is an extension of a longitudinal extension line of the longitudinal direction straight line of the first reference grid section and a longitudinal extension line of the second reference grid section based on the generated image information, Generating step; And a defect determination step of determining the defect of the weld portion based on the image information, the pipe information, the reference grid portion information, the first extension line, and the second extension line, Line appearance inspection method.

The defect determination step may be characterized by determining a welding defect of the welded portion based on whether an intersection of the first extension line and the second extension line is located at the center of the weld bead of the welded portion.

The defect determination step may include a step of generating a first step lane perpendicular to the center line of the welded portion passing through a point where the first extension line and the weld bead of the welded portion are in contact with each other, A second stage lane perpendicular to the center line of the welded portion passing through the tangent point is generated and a welding defect of the welded portion is determined on the basis of the distance between the first stage lane and the second stage lane .

The defect determination step may be characterized by determining a weld defect of the weld on the basis of the first extension line and the angle of the second extension line of the second pipe.

The defect determination step may include a step of generating a reference line starting from a reference point spaced by a specific distance in the first pipe from a point where the first extension line and the weld bead of the welded portion are in contact and parallel to the second extension line, And a welding defect of the welded portion is determined on the basis of the distance between the reference line and the second extension line.

It is another object of the present invention to provide a pipeline appearance inspection system for judging weld defects of a first pipe and a second pipe which are connected to each other by a welded portion, the pipeline appearance inspection system comprising a vertical straight line extending in the longitudinal direction of each pipe, A reference grid part configured to intersect a transverse straight line extending to the first pipe and the second pipe; An imaging section for generating image information photographed to include the reference grid section, at least a part of the first pipe, at least a part of the second pipe, and at least a part of the weld; And a control unit for receiving the image information from the photographing unit and determining welding defects of the welding unit on the basis of the image information and information about the reference grid unit to generate determination information for the first pipe and the second pipe And a second extension line that is an extension of a longitudinal straight line of the reference grid portion of the second pipe and a second extension line that is an extension of a longitudinal straight line of the reference grid portion of the first pipe, And a defect is judged based on the inspection result.

The control unit may be further configured to calculate, based on the image information received by the photographing unit, a first extension line that is an extension of a longitudinal straight line of the reference grid unit of the first pipe, A shape visualization module outputting a second extension line that is an extension line; And a defect determination module that determines a weld defect of the weld based on whether an intersection point of the first extension line and the second extension line output from the shape visualization module is located at the center of the weld bead of the weld portion .

The control unit may be further configured to calculate, based on the image information received by the photographing unit, a first extension line that is an extension of a longitudinal straight line of the reference grid unit of the first pipe, A shape visualization module outputting a second extension line that is an extension line; And a defect determination module that determines a weld defect of the weld portion using the first extension line and the second extension line output from the shape visualization module, wherein the shape visualization module includes: And a second stage lane perpendicular to the center line of the welded portion is generated after passing through a point where the weld bead of the welded portion contacts the welded bead and perpendicular to the center line of the welded portion, And the defect determination module determines a weld defect of the weld based on a distance between the first lane and the second lane.

The control unit may be further configured to calculate, based on the image information received by the photographing unit, a first extension line that is an extension of a longitudinal straight line of the reference grid unit of the first pipe, A shape visualization module outputting a second extension line that is an extension line; An angle calculation module for calculating an angle between the first extension line and the second extension line output from the shape visualization module; And a defect determination module that determines a weld defect of the weld based on the angle of the first extension line and the second extension line output from the angle calculation module.

The control unit may be further configured to calculate, based on the image information received by the photographing unit, a first extension line that is an extension of a longitudinal straight line of the reference grid unit of the first pipe, A shape visualization module outputting a second extension line that is an extension line; And a defect determination module that determines a weld defect of the weld portion using the first extension line and the second extension line output from the shape visualization module, wherein the shape visualization module includes: The reference line being spaced apart from the first pipe by a predetermined distance from a point at which the welding bead of the first pipe is tangent to the base line and a reference line parallel to the second extension line, The weld defect of the welded portion is determined based on the distance between the welded portion and the welded portion.

The control unit may further include a database unit that receives the determination information generated by the control unit, and stores information about the first pipe and the second pipe and the determination information.

It is another object of the present invention to provide a pipeline appearance inspection method for determining weld defects of a first pipe and a second pipe connected to a weld, which is performed by a pipe line visual inspection apparatus according to an embodiment of the present invention, Wherein the pipeline visual inspection apparatus comprises: a first reference grid section configured on the first pipe, the first pipe and including a reference grid, the second pipe, the second pipe, A second reference grid portion configured to include a reference grid and image information for the weld; A pipe information input step in which the pipeline visual inspection apparatus receives pipe information which is information on the first pipe and the second pipe by a user; A reference grid part information input step in which the pipeline visual inspection device receives reference grid part information, which is information on the first reference grid part and the second reference grid part, by the user; The pipeline visual inspection apparatus comprising an extension line for generating a second extension line which is an extension of a longitudinal extension line of the longitudinal direction straight line of the first reference grid section and a longitudinal extension line of the second reference grid section based on the generated image information, Generating step; And a defect determination step of determining the defect of the weld portion based on the image information, the pipe information, the reference grid portion information, the first extension line, and the second extension line, And a line visual inspection method is performed on the computer.

As described above, the present invention has the following effects.

First, according to the pipeline appearance inspection method according to an embodiment of the present invention, an operator can easily determine a weld defect in a pipeline to be inspected, in particular, a miter portion in real time at a work site.

Secondly, according to the pipeline appearance inspection method according to an embodiment of the present invention, it is possible to develop a commercial tool for the determination of a weld defect, so that an effect that can be a premise for constructing a systematic online quality management system of the pipeline occurs .

Third, according to the pipeline appearance inspection method according to an embodiment of the present invention, the reliability of the defect determination is higher than that of the conventional visual inspection.

Fourthly, according to the pipeline appearance inspection method according to an embodiment of the present invention, since the portable device is directly taken and determined in the field, usability and portability are maximized.

Fifth, according to the pipeline appearance inspection method according to an embodiment of the present invention, remarkable inexpensive effect can be obtained compared to expensive equipment such as an infrared camera.

Sixth, according to the pipeline appearance inspection method according to an embodiment of the present invention, since information on welding defects of the pipeline is continuously accumulated, it becomes possible to analyze and predict a change with time.

Seventh, according to the pipeline appearance inspection method according to an embodiment of the present invention, since the photograph is not stored in the DB, the effect of lightening the data occurs.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and, together with the description, And shall not be interpreted.
BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a photograph showing an example of poor welding of pipelines,
2 is a photograph showing a visual inspection method,
3 is a photograph showing an example of occurrence of a step of a miter portion,
FIG. 4 is a photograph showing an example of a conventional miter visual inspection,
5 is a photograph showing an example of a conventional Miter breakage test,
FIG. 6 is a block diagram illustrating a pipeline visual inspection system according to an embodiment of the present invention. FIG.
7 is a schematic diagram showing a reference grid unit according to an embodiment of the present invention,
FIG. 8 is a schematic diagram showing another example of a reference grid portion according to an embodiment of the present invention;
FIG. 9 is an exemplary view illustrating a reference grid unit according to an embodiment of the present invention. FIG.
10 is a comparative diagram comparing the use of a reference grid portion according to an embodiment of the present invention;
11 is an exemplary diagram illustrating the use of a reference grid portion according to an embodiment of the present invention,
FIG. 12 is a flowchart illustrating a pipeline appearance inspection method according to an embodiment of the present invention. FIG.
13 is a flowchart illustrating a pipeline appearance inspection method according to an embodiment of the present invention.
FIG. 14 is a schematic diagram showing pipeline appearance inspection result information output to an output unit according to an embodiment of the present invention; FIG.
15 is a flowchart illustrating a pipeline appearance inspection method according to another embodiment of the present invention.
16 and 17 are diagrams showing an example of determining a defect of a straight line portion using a pipeline visual inspection apparatus according to an embodiment of the present invention,
FIG. 18 is a graph showing an example of acceptable e value analysis among the output examples of the pipeline appearance inspection system according to the embodiment of the present invention,
19 is an example of a welding defect in an output example of a pipeline appearance inspection system according to an embodiment of the present invention,
FIG. 20 is a view showing an example of good welding among the output examples of the pipeline appearance inspection system according to the embodiment of the present invention,
FIG. 21 is an example of a welding defect in an output example of the pipeline appearance inspection system according to another embodiment of the present invention,
FIG. 22 is an example of good output of the output example of the pipeline visual inspection system according to another embodiment of the present invention,
23 is an example of the angle analysis of the curvature portion in the output example of the pipeline appearance inspection system according to the embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following detailed description of the operation principle of the preferred embodiment of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may unnecessarily obscure the subject matter of the present invention.

The same reference numerals are used for portions having similar functions and functions throughout the drawings. In the specification, when a specific portion is connected to another portion, it includes not only a direct connection but also a case where the other portion is indirectly connected with another element in between. In addition, the inclusion of a specific constituent element does not exclude other constituent elements unless specifically stated otherwise, but may include other constituent elements.

Pipeline exterior inspection system

Hereinafter, a welding defect may mean a general pipe welding defect such as an alignment defect, a bead defect, or the like. Further, in the following, the material of the pipe may include plastic, steel, and the like. In the following description, a miter joint means a connection portion cut so that the contact surface of the pipeline is a slope surface.

FIG. 6 is a block diagram illustrating a pipeline appearance inspection system according to an embodiment of the present invention. Referring to FIG. As shown in FIG. 6, the pipeline visual inspection system according to an embodiment of the present invention may include a pipeline visual inspection apparatus 10, a reference grid unit 6, and the like.

The pipeline visual inspection apparatus 10 may include a control section 1, a photographing section 2, an input section 3, an output section 4 and a memory section 5, And the reference grid unit (6), the control unit (1) judges whether or not a weld defect has occurred in real time and outputs the result to the output unit (4). The pipeline visual inspection apparatus 10 may mean a portable device such as a digital camera, a smart phone, or a PC according to an embodiment of the present invention.

The control unit 1 may include an angle calculation module 11, a size calculation module 12, a shape visualization module 13, a figure generation module, a figure matching module and a defect determination module 14, ), The shapes of the pipeline and the weld bead are shaped, and the welding defect is determined by comparing the shape of the pipeline and the weld bead with the design standard. The control unit 1 is connected to the photographing unit 2 and receives image information generated in the photographing unit. Also, the control unit 1 can visualize the shape of the pipeline through the extension of the reference grid unit based on the received image information. Further, the control unit 1 can calculate a step, an angle, etc. based on the shape of the visualized pipeline, and compare the defect with the weld defect condition to determine the possibility of a defect. The control unit 1 may be connected to the input unit 3 to receive sampling information, pipe information, reference grid unit information, and the like input by the user.

The sampling information that can be input at this time may be sample information about the color, brightness, saturation, etc. of the soil, pipe, reference grid unit 6 in the image information. The pipe information may refer to the specification of the pipe, for example, diameter, thickness, welding temperature, welding time, welding force, and the like. The reference grid section information may mean the size, shape, etc. of the sides of the grid displayed on the reference grid section 6.

Further, the control unit 1 is connected to the output unit 4 and sends the completed welding defect determination information to the output unit 4. [ The operator performs the welding defect judgment in real time on the basis of the information sent to the output unit 4. [ Further, the control unit 1 is connected to the memory unit 5 to store the welding defect determination information in the memory unit 5 for each welding portion of the pipeline.

The angle calculation module 11 is one of the analysis modules in the control unit 1 and includes a reference grid unit 6 output from the shape visualization module 13 from the image information photographed by the photographing unit 2 and transmitted to the control unit 1 And the angle between the extension lines, the size of each side, and the like are analyzed to calculate an angle or step between the pipes connected to each other. The measured step or angle is compared with the requirement according to the weld defect condition in the defect determination module 14 to determine the possibility of welding defect.

The size calculation module 12 recognizes each straight line of the reference grid section 6 from the image information photographed by the photographing section 2 and transmitted to the control section 1 and stores the reference grid section information inputted by the user in advance And calculates the actual size per pixel of the image information on the basis of the image information.

The shape visualization module 13 is configured to extend a longitudinal straight line that is a straight line in a direction parallel to the longitudinal direction of the pipeline among the straight lines of the reference grid portion 6 to output an extension line and to visualize the shape of the pipeline 7 . The spacing between the longitudinal straight lines shown in the reference grid portion 6 is gradually changed by the circumference of the pipeline cross section. In the one image information, the vertical direction of the reference grid portion 6 The interval between the straight lines becomes narrower and the interval between the longitudinal straight lines of the reference grid portion 6 becomes larger toward the center of the pipeline. Because of this feature, when the shape visualization module 13 extends a longitudinal straight line which is a straight line in a direction parallel to the longitudinal direction of the pipeline among the straight lines of the reference grid portion 6 and outputs an extension line, The shape can be visualized. An extension line in the shape visualization module 13 can be used to obtain a step or an angle in the angle calculation module 11. [

The defect determination module 14 compares the shape of the pipeline with the specification according to the stepped angle, the angle and the weld defect condition calculated in the angle calculation module 11 by the extension line generated in the shape visualization module 13, The weld defect of the miter portion is judged.

The method of determining a specific welding defect will be described below.

According to another embodiment of the present invention, a figure generating module and a figure matching module can be used.

The figure generation module can form and shape each pipe in the image information based on the actual size per pixel of the image information calculated by the size calculation module 12, the pipe information input by the user in advance, and the reference grid portion information And a pipe shape is visualized by a method of generating a figure. According to an embodiment of the present invention, a graphic corresponding to a pipe may be generated as a rectangle such as a straight line, a curve, and a trapezoid. The figure generation module according to an embodiment of the present invention generates a parallel line or a straight line spaced by a diameter of a pipe in the image information based on the actual size per pixel of the image information and the pipe information inputted by the user in advance .

Further, the figure generation module may be configured to generate a figure corresponding to the weld bead. The figure corresponding to the weld bead may be generated by a triangle or the like. The figure generation module according to an embodiment of the present invention may be configured to generate a bent line or a triangle in which the lowest point and the highest point are connected between the pipe and the pipe matched with the figure in the image information.

The figure matching module is a module that matches a figure generated in the figure generation module to a position corresponding to each pipe in the image information, and generates matching image information to render a pipe. At this time, the sampling information input by the user in advance can be used to distinguish and recognize the boundary between the pipe and the soil. The figure matching module may be configured to match a figure corresponding to the weld bead generated in the figure generation module within the image information corresponding to the weld bead.

In another embodiment of the present invention, the defect determination module 14 determines the welding defect based on the matching image information that has been completed by the figure matching module.

FIG. 7 is a schematic diagram showing a reference grid unit according to an embodiment of the present invention, and FIG. 8 is a schematic diagram showing another example of a reference grid unit according to an embodiment of the present invention. As shown in FIGS. 7 and 8, the reference grid unit 6 is based on a form of patch-type tape that can be detachably attached including a grid, and may be a square grid, a polygon And a straight line inclined at a specific angle may be different in the grid form of the reference grid portion 6. According to one embodiment of the present invention, the reference grid portion 6 may comprise a longitudinally longitudinal straight line and a transverse straight line with respect to the pipeline, and a grid constituted by these straight lines .

The reference grid portion 6 may be made of a transparent tape material, a wire mesh, a spring wire, a vinyl or the like. In the case where the reference grid unit 6 is made of a transparent tape material, an effect of preventing errors in the identification of pipes in the image processing of the control unit 1 may be further generated.

9 is an exemplary view showing a reference grid unit according to an embodiment of the present invention, in relation to the attachment type of the reference grid unit 6. [ As shown in Fig. 9, the attachment form of the reference grid portion 6 may be a patch type, a roll type, or the like. In the case where the shape of the reference grid portion 6 is a patch type patch pattern, it is advantageous that the reference grid portion 6 can be easily attached to or detached from the target pipe. When the shape of the reference grid portion 6 is a roll shape, the effect of increasing the direction and position accuracy at the time of adhering may be further generated. In the case of the roll-shaped reference grid portion 6, improvement in accuracy can be expected together with the display lines of the external appearance of the pipes already displayed. Also, in the case of the roll-shaped reference grid portion 6, the reference grid at a position close to a plurality of measurement target positions can be secured by one attachment. In addition, since the reference grid information is provided for various positions on the curved surface of the pipe, information for image processing is increased. In addition, the reference grid portion 6 can be marked (applied) to the pipeline using a spray.

10 is a comparative diagram comparing the use of a reference grid portion according to an embodiment of the present invention. FIG. 11 illustrates the use of a reference grid portion according to an embodiment of the present invention. It is an example. As shown in FIGS. 10 and 11, when the reference grid unit 6 is not used, the reference information is not present in the image information at the time of taking the image of the weld, and the reference information extraction for defect determination is not possible. A system for determining a welding defect can not be realized by only the photographing part. Accordingly, costly and difficult methods such as laser-CD and ultrasonic methods have been developed. However, in the case where the reference grid unit 6 is used according to an embodiment of the present invention, on the basis of the grid, pipe information, sampling information, and reference grid information displayed on the reference grid unit 6, It is possible to derive accurate dimensional and shape information with respect to the reference plane. The reference grid portion 6 may be formed in a grid shape to calculate a reference plane corresponding to each pipe and calculate a three-dimensional angle of the connected pipe by using angles between the reference planes of the connected pipes. When the reference grid portion 6 is formed in a grid shape, not only the three-dimensional angle of the connected pipe can be calculated but also the actual size corresponding to the pixel of the image information can be easily derived, The accuracy of the defect determination is increased.

In the past, it was impossible to automate welding defect determination with a simple optical camera. As a result, a precise luminous body such as a laser and a precise analysis means were essential for welding defect determination. However, according to the embodiment of the present invention, the reference grid section 6 is formed in a grid shape, whereby a remarkable effect that a welding defect can be determined with a simple optical camera is generated.

Pipeline appearance inspection method

FIG. 12 is a flowchart illustrating a pipeline appearance inspection method according to an embodiment of the present invention. FIG. 13 is a flowchart illustrating a pipeline appearance inspection method according to an embodiment of the present invention. Fig. 12 and 13, the pipeline appearance inspection method according to an embodiment of the present invention may include an input step S1, an analysis step S2, and an output step S3.

The input step S1 may include a shooting step S10, a pipe information input step S11, and a reference grid part information input step S12.

The photographing step S10 is a step of photographing a weld between a pipe and a pipe of a pipeline, for example, a miter part, by using the photographing part 2 which is an optical camera of the pipeline visual inspection device 10. In the photographing step S10, it is possible to photograph the image information so that only a part of the pipe is displayed.

The pipe information input step S11 is a step for the user to input pipe information, which is information on the pipeline, for accurate welding defect determination. The pipe information according to an embodiment of the present invention may be information on pipe identification number, diameter, thickness, material, and the like. The pipe information input in S11 may be used to obtain the unit pixel size of the image information together with the reference grid portion information input in S12.

The reference grid portion information input step S12 is a step of inputting reference grid portion information which is information of the reference grid portion 6 attached or applied to the pipe in the video information. The reference grid section information according to an embodiment of the present invention may mean information such as grid size, color, and the like. After this step, in the analysis step S2, the concrete numerical values of the pipes and the angles between the pipes can be calculated based on the reference grid part information and the pipe information.

The analysis step S2 may include a shape visualization step S20, a calculation step S21, a comparison step S22, and a defect determination step S23.

The shape visualization step S20 is performed in the form visualization module 13 in such a manner that a longitudinal straight line of the reference grid portion 6 is extended to create an extension line 8, In the step of FIG.

The calculation step S21 is performed in the angle calculation module 11 and the size calculation module 12 of the control unit 1 by using the extension line 8 generated in S20, the pipe information and the reference grid information, For example, it is the step that performs the angle calculation between the pipeline of the miter part, the actual size calculation per pixel, and the step difference calculation.

In the comparison step S22, the defect determination module 14 of the control unit 1 compares the angle information between the pipelines calculated in S21, the actual size information per pixel, the level information, and the like according to the actual weld defect condition to be.

In the defect determination step S23, if the angle information between the pipelines, the actual size information per pixel, and the step information deviated from the specification according to the actual weld defect condition calculated in S21 through the comparison in S22, the pipeline appearance inspection And the pipeline appearance inspection result information is generated.

The output step S3 may include a result output step S30 and a storage step S31.

The result output step S30 is a step of outputting the pipeline appearance inspection result information determined in S23 to the output unit 4. [ 14 is a schematic diagram showing pipeline appearance inspection result information output to an output unit according to an embodiment of the present invention. The pipeline appearance inspection result information output according to an exemplary embodiment of the present invention includes pipe information, angle information between pipelines calculated in S21, actual size information per pixel, level information, regulation information according to actual weld defect conditions, and the like .

The storing step S31 is a step of storing the pipeline appearance inspection result information determined in S23 in the memory unit 5 or transmitting the pipeline appearance inspection result information to the server. The pipeline appearance inspection result information transmitted to the server can be stored and converted into a DB. According to the present invention, pipeline appearance inspection result information is generated only through a simple photographing operation, and an advantage of securing a DB on the pipeline can be obtained. The continuous quality control of the pipe is facilitated and becomes possible through the DB of the secured pipeline.

FIG. 15 is a flowchart illustrating a pipeline appearance inspection method according to another embodiment of the present invention, in connection with a pipeline appearance inspection method according to another embodiment of the present invention. As shown in FIG. 15, the pipeline appearance inspection method according to an embodiment of the present invention may further include a figure generation step, a figure matching step, and a welding part shape matching step after the photographing step S10.

The figure generating step is a step of generating a pipe figure 20, which is a figure corresponding to each pipe, or a bead figure 21, corresponding to each welding bead. Figures may include straight lines, curves, parallel lines, squares, triangles, and the like, according to one embodiment of the present invention. At the time of creating the graphic form, the pipe information inputted in S11 can be used.

The figure matching step is a step of matching the pipe figure 20 or the bead figure 21 generated in the figure generating step to image information.

In the calculation step S21 and the defect determination step S23, the angle information between the pipelines, the actual size information per pixel, and the step information are calculated using the matched geometry matching information, the various defects of the pipe welding are determined, And the line appearance inspection result information.

Example

16 and 17 are diagrams for explaining a pipeline appearance inspection method according to an embodiment of the present invention by using a pipeline visual inspection apparatus according to an embodiment of the present invention Fig. 2 is an example of a defect determination example of a straight line portion. As shown in FIGS. 16 and 17, when a defect of each welding portion of the straight line portion of the pipeline is determined, a grid-shaped reference grid portion 6 is attached to the pipe surface to measure the allowable range value for each defect, To determine the error value. The reference grid section 6 shown in Fig. 16 is of a patch type, and the reference grid section 6 shown in Fig. 17 is illustrated as a roll type.

According to ASTM F2620-11 and DVS 2202-1, welded bead V-grooves should not exceed more than one-half of weld bead height for welding flash notches during welding defects. According to one embodiment of the present invention , The actual size per pixel of the image information can be calculated using the reference grid unit 6 and the depth of the V-groove can be calculated through the pipe shape visualization using the extension line 8 of the left and right reference grid unit 6 .

For Notches and score marks among weld defects, according to DVS 2202-1, damage to the pipe wall shall not exceed 0.1 to 0.15 or 0.5 mm to 2 mm of pipe thickness. According to an embodiment of the present invention, the actual size per pixel of the image information can be calculated using the reference grid unit 6, and the pipe shape visualization using the extension line 8 of the left and right reference grid unit 6 The depth of the pipe wall damage can be calculated.

For mismatch of joint faces in welding defects, according to ASTM F2620-11, DVS 2202-1, the cross-section of welded pipe shall be free of steps and the allowable range shall be 0.1 to 0.2 of pipe thickness. According to an embodiment of the present invention, the actual size per pixel of the image information can be calculated using the reference grid unit 6, and the pipe shape visualization using the extension line 8 of the left and right reference grid unit 6 The step of the pipe wall can be calculated.

In the case of Irregular weld bead width among the welding defects, the defect can be grasped by calculating the width of the bead through pipe visualization using the extension line 8 of the left and right reference grid portions 6 according to an embodiment of the present invention.

For angular mismatch of joint faces in welding defects in straight section, according to DVS 2202-1, the angle of welded pipe shall not exceed a certain angle. According to the embodiment of the present invention, pipe and pipe angle in the corresponding image information can be calculated through the pipe shape visualization using the extension line 8 of the left and right reference grid portions 6.

Regarding the analysis of the allowable e value range among the welding defects of the straight line portion, FIG. 18 shows an example of the allowable e value analysis among the output examples of the pipeline appearance inspection system according to the embodiment of the present invention. As shown in FIG. 18, an extension line 8 may be analyzed in accordance with an embodiment of the present invention to analyze whether the e value of the pipeline is within an acceptable range (see DVS 2202-1). At this time, the extension line 8 of the reference grid portion 6 of the specific pipe starts at a reference point spaced apart from the point of contact with the weld bead of the welded portion by a specific distance, and the extension line of the reference grid portion 6 of another pipe (8). ≪ / RTI > The welding defect of the welded portion is determined based on the distance between the reference line and the extension line 8 of the other pipe.

With respect to the embodiment in the miter section, in the case of the miter section, it is very difficult to measure the generated curvature portion, and a very large difference is caused according to the surveyor, the environment, the measurement direction, and the like. According to the embodiment of the present invention, since the plurality of photographs can be taken according to the measurement direction using the reference grid unit 6, the risk is reduced. Therefore, the defect determination of all the welded portions of the miter portion can be made quicker and easier.

With respect to the step difference analysis in the miter part, according to the embodiment of the present invention, it is possible to easily analyze the welding step of the miter part. FIG. 19 shows an example of a welding defect in an output example of a pipeline appearance inspection system according to an embodiment of the present invention, and FIG. 20 shows an example of output of a pipeline appearance inspection system according to an embodiment of the present invention. And shows a good example. As shown in Fig. 19, when the intersection of the extension line 8 of the left and right reference grid portions 6 is not located at the center of the weld bead, it is judged that the welding is defective and the step difference can be specifically determined. The error range may be in accordance with the provisions (DVS2202-1, mismatch of joints faces). However, in the case where standards are not separately provided for the miter part, unlike the straight part, the requirements for the straight part can be applied mutatis mutandis. 20, when the intersection of the extension line 8 of the left and right reference grid portions 6 is located at the center of the weld bead, welding can be judged as good. It is possible to measure the step of the bead, the symmetry of the bead, etc. through the connection of all the extension lines 8 of the reference grid portion 6. [

FIG. 21 shows an example of a welding defect in an output example of the pipeline appearance inspection system according to another embodiment of the present invention, and FIG. 22 shows an example of the output of the pipeline appearance inspection system according to another embodiment of the present invention In the welding process. 21 and 22, according to an embodiment of the present invention, the extension line 8 of the left and right reference grid portion 6 passes through the point where it meets the weld bead, and is perpendicular to the center line a of the weld portion. The step (? H) constituted by the two lanes (b) can be analyzed and compared with the specification. The step difference? H1 in Fig. 21 is an example in which the level difference is larger than the stipulation and can be judged as a weld defect, and the step difference? H2 in Fig. 22 is an example in which the level difference is smaller than the stipulated value,

23 shows an example of angular analysis of the curvature portion in the output example of the pipeline appearance inspection system according to the embodiment of the present invention. As shown in FIG. 23, it is possible to analyze whether the angle of curvature of the miter portion is good by analyzing the angle? Between the extension line 8 according to an embodiment of the present invention.

As described above, those skilled in the art will appreciate that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are to be considered in all respects only as illustrative and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present invention.

1:
2:
3: Input unit
4: Output section
5: Memory section
6: Reference grid section
7:
8: extension line
10: Pipeline visual inspection system
11: Angle calculation module
12: Size Calculation Module
13: Shape visualization module
14: Defect determination module
20: Pipe Shape
21: Bead shape

Claims (18)

A pipeline appearance inspection apparatus for determining welding defects of a first pipe and a second pipe connected to each other by a welding portion,
A reference grid portion attached or applied to the first pipe and the second pipe respectively, image information photographed to include at least a portion of the first pipe, at least a portion of the second pipe, and at least a portion of the weld A photographing unit; And
A control unit for receiving the image information from the photographing unit, and determining welding defects of the welding unit based on the image information and the information about the reference grid unit;
Lt; / RTI >
Wherein the reference grid portion is configured so that a longitudinal direction of the pipe extending in the longitudinal direction and a transverse direction of the pipe extending in the transverse direction intersect each other.
The method according to claim 1,
Wherein,
A second extension line that is an extension of a longitudinal line of the reference grid portion of the second pipe and a second extension line that is an extension of the longitudinal direction straight line of the reference grid portion of the first pipe is formed on the basis of the image information received by the photographing portion A shape visualization module outputting the shape information; And
A defect determination module that determines a weld defect of the weld based on whether an intersection point of the first extension line and the second extension line output from the shape visualization module is located at a weld bead center of the weld portion;
Wherein the pipeline appearance inspection device further comprises:
The method according to claim 1,
Wherein,
A second extension line that is an extension of a longitudinal line of the reference grid portion of the second pipe and a second extension line that is an extension of the longitudinal direction straight line of the reference grid portion of the first pipe is formed on the basis of the image information received by the photographing portion A shape visualization module outputting the shape information; And
A defect determination module that determines welding defects of the welded portion using the first extension line and the second extension line output from the shape visualization module;
Further comprising:
Wherein the shape visualization module includes a first stage lane passing through a point where the first extension line and a weld bead of the welded portion are in contact with each other and perpendicular to a center boundary line of the welded portion and a point where the second extension line and the weld bead of the welded portion contact each other, Creating a second stage lane perpendicular to the center line of the weld,
Wherein the defect determination module determines weld defect of the weld based on a distance between the first lane and the second lane.
The method according to claim 1,
Wherein,
A second extension line that is an extension of a longitudinal line of the reference grid portion of the second pipe and a second extension line that is an extension of the longitudinal direction straight line of the reference grid portion of the first pipe is formed on the basis of the image information received by the photographing portion A shape visualization module outputting the shape information;
An angle calculation module for calculating an angle between the first extension line and the second extension line output from the shape visualization module; And
A defect determination module that determines a weld defect of the weld based on the angle of the first extension line and the second extension line output from the angle calculation module;
Wherein the pipeline appearance inspection device further comprises:
The method according to claim 1,
Wherein,
A second extension line that is an extension of a longitudinal line of the reference grid portion of the second pipe and a second extension line that is an extension of the longitudinal direction straight line of the reference grid portion of the first pipe is formed on the basis of the image information received by the photographing portion A shape visualization module outputting the shape information; And
A defect determination module that determines welding defects of the welded portion using the first extension line and the second extension line output from the shape visualization module;
Further comprising:
The shape visualization module generates a reference line parallel to the second extension line starting from a reference point spaced by a specific distance within the first pipe from a point where the first extension line and the weld bead of the welded portion contact,
Wherein the defect determination module determines a weld defect of the weld based on a distance between the reference line and the second extension line.
The method according to claim 1,
The reference grid unit may include a patch type patch-type unit attached to the first pipe and the second pipe in a patch form, a roll-type unit that is attached in the form of wrapping the outer peripheries of the first pipe and the second pipe, Wherein the pipe-type outer appearance inspection apparatus is composed of a coating type applied to the outer periphery of each of the two pipes.
A pipeline appearance inspection method for determining welding defects of a first pipe and a second pipe connected to each other by a welding portion,
A user attaching a first reference grid portion including a reference grid to the first pipe and attaching a second reference grid portion including a reference grid to the second pipe;
The user views the first pipe, the first reference grid section, the second pipe, the second reference grid section, and the weld section with the pipeline visual inspection apparatus according to claim 1, An imaging step of generating image information on the first pipe, the first reference grid part, the second pipe, the second reference grid part,
A pipe information input step in which the pipeline visual inspection apparatus receives pipe information which is information on the first pipe and the second pipe by the user;
A reference grid part information input step in which the pipeline visual inspection device receives reference grid part information, which is information on the first reference grid part and the second reference grid part, by the user;
The pipeline visual inspection apparatus comprising an extension line for generating a second extension line which is an extension of a longitudinal extension line of the longitudinal direction straight line of the first reference grid section and a longitudinal extension line of the second reference grid section based on the generated image information, Generating step; And
A defect determination step of determining the defect of the weld portion based on the image information, the pipe information, the reference grid portion information, the first extension line, and the second extension line;
Wherein the pipeline appearance inspection method comprises the steps of:
8. The method of claim 7,
The defect determination step includes:
Wherein a welding defect of the weld portion is determined on the basis of whether an intersection of the first extension line and the second extension line is located at the center of the weld bead of the weld portion.
8. The method of claim 7,
The defect determination step includes:
A first step lane that is perpendicular to the center line of the welded portion passing through a point where the first extension line and the weld bead of the welded portion are in contact with each other,
Generating a second-stage lane that is perpendicular to the center line of the welded portion beyond a point where the second extension line and the weld bead of the welded portion are in contact with each other,
And a welding defect of the welded portion is determined based on a distance between the first stage lane and the second stage lane.
8. The method of claim 7,
The defect determination step includes:
And a welding defect of the welded portion is determined on the basis of the first extension line and the angle of the second extension line of the second pipe.
8. The method of claim 7,
The defect determination step includes:
A reference line starting from a reference point spaced a certain distance in the first pipe from a point where the first extension line and the welding bead of the welded portion are in contact and generating a reference line parallel to the second extension line,
And a welding defect of the weld portion is determined based on a distance between the reference line and the second extension line.
A pipeline appearance inspection system for determining welding defects of a first pipe and a second pipe connected to each other by a welding portion,
A reference grid unit configured to intersect a longitudinal direction of the longitudinal direction of each pipe and a transverse direction line extending in a transverse direction of each pipe, the reference grid unit being attached to the first pipe and the second pipe, respectively;
An imaging section for generating image information photographed to include the reference grid section, at least a part of the first pipe, at least a part of the second pipe, and at least a part of the weld; And
A control section for receiving the image information from the photographing section and determining welding defects of the welding section on the basis of the image information and information about the reference grid section and generating judgment information for the first pipe and the second pipe, ;
Lt; / RTI >
And a welding defect of the welded portion is determined by using a first extension line that is an extension of a longitudinal straight line of the reference grid portion of the first pipe and a second extension line that is an extension of a longitudinal straight line of the reference grid portion of the second pipe. , Pipeline appearance inspection system.
13. The method of claim 12,
Wherein,
A second extension line that is an extension of a longitudinal line of the reference grid portion of the second pipe and a second extension line that is an extension of the longitudinal direction straight line of the reference grid portion of the first pipe is formed on the basis of the image information received by the photographing portion A shape visualization module outputting the shape information; And
A defect determination module that determines a weld defect of the weld based on whether an intersection point of the first extension line and the second extension line output from the shape visualization module is located at a weld bead center of the weld portion;
Wherein the pipeline appearance inspection system further comprises:
13. The method of claim 12,
Wherein,
A second extension line that is an extension of a longitudinal line of the reference grid portion of the second pipe and a second extension line that is an extension of the longitudinal direction straight line of the reference grid portion of the first pipe is formed on the basis of the image information received by the photographing portion A shape visualization module outputting the shape information; And
A defect determination module that determines welding defects of the welded portion using the first extension line and the second extension line output from the shape visualization module;
Further comprising:
Wherein the shape visualization module includes a first stage lane passing through a point where the first extension line and a weld bead of the welded portion are in contact with each other and perpendicular to a center boundary line of the welded portion and a point where the second extension line and the weld bead of the welded portion contact each other, Creating a second stage lane perpendicular to the center line of the weld,
Wherein the defect determination module determines weld defect of the weld based on a distance between the first lane and the second lane.
13. The method of claim 12,
Wherein,
A second extension line that is an extension of a longitudinal line of the reference grid portion of the second pipe and a second extension line that is an extension of the longitudinal direction straight line of the reference grid portion of the first pipe is formed on the basis of the image information received by the photographing portion A shape visualization module outputting the shape information;
An angle calculation module for calculating an angle between the first extension line and the second extension line output from the shape visualization module; And
A defect determination module that determines a weld defect of the weld based on the angle of the first extension line and the second extension line output from the angle calculation module;
Wherein the pipeline appearance inspection system further comprises:
13. The method of claim 12,
Wherein,
A second extension line that is an extension of a longitudinal line of the reference grid portion of the second pipe and a second extension line that is an extension of the longitudinal direction straight line of the reference grid portion of the first pipe is formed on the basis of the image information received by the photographing portion A shape visualization module outputting the shape information; And
A defect determination module that determines welding defects of the welded portion using the first extension line and the second extension line output from the shape visualization module;
Further comprising:
The shape visualization module generates a reference line parallel to the second extension line starting from a reference point spaced by a specific distance within the first pipe from a point where the first extension line and the weld bead of the welded portion contact,
Wherein the defect determination module determines weld defect of the weld based on a distance between the reference line and the second extension line.
13. The method of claim 12,
A database unit that receives the determination information generated by the control unit and stores information about the first pipe and the second pipe and the determination information;
Further comprising a pipeline appearance inspection system.
A program stored in a recording medium, which is executed by a pipeline visual inspection apparatus according to claim 1, wherein a pipeline visual inspection method for determining welding defects of a first pipe and a second pipe connected to a weld is performed on a computer ,
Wherein the pipeline visual inspection apparatus comprises a first reference grid section configured on the first pipe, the first pipe and including a reference grid, the second pipe, a second reference constructed on the second pipe and including a reference grid, An imaging step of generating image information for the grid portion and the welded portion;
A pipe information input step in which the pipeline visual inspection apparatus receives pipe information which is information on the first pipe and the second pipe by a user;
A reference grid part information input step in which the pipeline visual inspection device receives reference grid part information, which is information on the first reference grid part and the second reference grid part, by the user;
The pipeline visual inspection apparatus comprising an extension line for generating a second extension line which is an extension of a longitudinal extension line of the longitudinal direction straight line of the first reference grid section and a longitudinal extension line of the second reference grid section based on the generated image information, Generating step; And
A defect determination step of determining the defect of the weld portion based on the image information, the pipe information, the reference grid portion information, the first extension line, and the second extension line;
Wherein the pipeline appearance inspection method is performed on a computer.

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